Sam Grove / Mbed 2 deprecated canopen_slavenode

CANfestival - an open source CANopen framework

Dependencies:   mbed

framework/include/def.h@0:6219434a0cb5, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:14:41 2011 +0000
Revision:
0:6219434a0cb5
Initial public release of slave node framework port

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5
sam_grove 0:6219434a0cb5 6 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 7
sam_grove 0:6219434a0cb5 8 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 10 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 12
sam_grove 0:6219434a0cb5 13 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 16 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 17
sam_grove 0:6219434a0cb5 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 19 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 21 */
sam_grove 0:6219434a0cb5 22
sam_grove 0:6219434a0cb5 23
sam_grove 0:6219434a0cb5 24 #ifndef __def_h__
sam_grove 0:6219434a0cb5 25 #define __def_h__
sam_grove 0:6219434a0cb5 26
sam_grove 0:6219434a0cb5 27 #include "config.h"
sam_grove 0:6219434a0cb5 28
sam_grove 0:6219434a0cb5 29 /** definitions used for object dictionary access. ie SDO Abort codes . (See DS 301 v.4.02 p.48)
sam_grove 0:6219434a0cb5 30 */
sam_grove 0:6219434a0cb5 31 #define OD_SUCCESSFUL 0x00000000
sam_grove 0:6219434a0cb5 32 #define OD_READ_NOT_ALLOWED 0x06010001
sam_grove 0:6219434a0cb5 33 #define OD_WRITE_NOT_ALLOWED 0x06010002
sam_grove 0:6219434a0cb5 34 #define OD_NO_SUCH_OBJECT 0x06020000
sam_grove 0:6219434a0cb5 35 #define OD_NOT_MAPPABLE 0x06040041
sam_grove 0:6219434a0cb5 36 #define OD_LENGTH_DATA_INVALID 0x06070010
sam_grove 0:6219434a0cb5 37 #define OD_NO_SUCH_SUBINDEX 0x06090011
sam_grove 0:6219434a0cb5 38 #define OD_VALUE_RANGE_EXCEEDED 0x06090030 /* Value range test result */
sam_grove 0:6219434a0cb5 39 #define OD_VALUE_TOO_LOW 0x06090031 /* Value range test result */
sam_grove 0:6219434a0cb5 40 #define OD_VALUE_TOO_HIGH 0x06090032 /* Value range test result */
sam_grove 0:6219434a0cb5 41 /* Others SDO abort codes
sam_grove 0:6219434a0cb5 42 */
sam_grove 0:6219434a0cb5 43 #define SDOABT_TOGGLE_NOT_ALTERNED 0x05030000
sam_grove 0:6219434a0cb5 44 #define SDOABT_TIMED_OUT 0x05040000
sam_grove 0:6219434a0cb5 45 #define SDOABT_OUT_OF_MEMORY 0x05040005 /* Size data exceed SDO_MAX_LENGTH_TRANSFERT */
sam_grove 0:6219434a0cb5 46 #define SDOABT_GENERAL_ERROR 0x08000000 /* Error size of SDO message */
sam_grove 0:6219434a0cb5 47 #define SDOABT_LOCAL_CTRL_ERROR 0x08000021
sam_grove 0:6219434a0cb5 48
sam_grove 0:6219434a0cb5 49 /******************** CONSTANTS ****************/
sam_grove 0:6219434a0cb5 50
sam_grove 0:6219434a0cb5 51 /** Constantes which permit to define if a PDO frame
sam_grove 0:6219434a0cb5 52 is a request one or a data one
sam_grove 0:6219434a0cb5 53 */
sam_grove 0:6219434a0cb5 54 /* Should not be modified */
sam_grove 0:6219434a0cb5 55 #define REQUEST 1
sam_grove 0:6219434a0cb5 56 #define NOT_A_REQUEST 0
sam_grove 0:6219434a0cb5 57
sam_grove 0:6219434a0cb5 58 /* Misc constants */
sam_grove 0:6219434a0cb5 59 /* -------------- */
sam_grove 0:6219434a0cb5 60 /* Should not be modified */
sam_grove 0:6219434a0cb5 61 #define Rx 0
sam_grove 0:6219434a0cb5 62 #define Tx 1
sam_grove 0:6219434a0cb5 63 #ifndef TRUE
sam_grove 0:6219434a0cb5 64 #define TRUE 1
sam_grove 0:6219434a0cb5 65 #endif
sam_grove 0:6219434a0cb5 66 #ifndef FALSE
sam_grove 0:6219434a0cb5 67 #define FALSE 0
sam_grove 0:6219434a0cb5 68 #endif
sam_grove 0:6219434a0cb5 69
sam_grove 0:6219434a0cb5 70 /** Status of the SDO transmission
sam_grove 0:6219434a0cb5 71 */
sam_grove 0:6219434a0cb5 72 #define SDO_RESET 0x0 /* Transmission not started. Init state. */
sam_grove 0:6219434a0cb5 73 #define SDO_FINISHED 0x1 /* data are available */
sam_grove 0:6219434a0cb5 74 #define SDO_ABORTED_RCV 0x80 /* Received an abort message. Data not available */
sam_grove 0:6219434a0cb5 75 #define SDO_ABORTED_INTERNAL 0x85 /* Aborted but not because of an abort message. */
sam_grove 0:6219434a0cb5 76 #define SDO_DOWNLOAD_IN_PROGRESS 0x2
sam_grove 0:6219434a0cb5 77 #define SDO_UPLOAD_IN_PROGRESS 0x3
sam_grove 0:6219434a0cb5 78
sam_grove 0:6219434a0cb5 79 /* Status of the node during the SDO transfert : */
sam_grove 0:6219434a0cb5 80 #define SDO_SERVER 0x1
sam_grove 0:6219434a0cb5 81 #define SDO_CLIENT 0x2
sam_grove 0:6219434a0cb5 82 #define SDO_UNKNOWN 0x3
sam_grove 0:6219434a0cb5 83
sam_grove 0:6219434a0cb5 84 /* SDOrx ccs: client command specifier */
sam_grove 0:6219434a0cb5 85 #define DOWNLOAD_SEGMENT_REQUEST 0
sam_grove 0:6219434a0cb5 86 #define INITIATE_DOWNLOAD_REQUEST 1
sam_grove 0:6219434a0cb5 87 #define INITIATE_UPLOAD_REQUEST 2
sam_grove 0:6219434a0cb5 88 #define UPLOAD_SEGMENT_REQUEST 3
sam_grove 0:6219434a0cb5 89 #define ABORT_TRANSFER_REQUEST 4
sam_grove 0:6219434a0cb5 90
sam_grove 0:6219434a0cb5 91 /* SDOtx scs: server command specifier */
sam_grove 0:6219434a0cb5 92 #define UPLOAD_SEGMENT_RESPONSE 0
sam_grove 0:6219434a0cb5 93 #define DOWNLOAD_SEGMENT_RESPONSE 1
sam_grove 0:6219434a0cb5 94 #define INITIATE_DOWNLOAD_RESPONSE 3
sam_grove 0:6219434a0cb5 95 #define INITIATE_UPLOAD_RESPONSE 2
sam_grove 0:6219434a0cb5 96 #define ABORT_TRANSFER_REQUEST 4
sam_grove 0:6219434a0cb5 97
sam_grove 0:6219434a0cb5 98
sam_grove 0:6219434a0cb5 99 /* Function Codes
sam_grove 0:6219434a0cb5 100 ---------------
sam_grove 0:6219434a0cb5 101 defined in the canopen DS301
sam_grove 0:6219434a0cb5 102 */
sam_grove 0:6219434a0cb5 103 #define NMT 0x0
sam_grove 0:6219434a0cb5 104 #define SYNC 0x1
sam_grove 0:6219434a0cb5 105 #define TIME_STAMP 0x2
sam_grove 0:6219434a0cb5 106 #define PDO1tx 0x3
sam_grove 0:6219434a0cb5 107 #define PDO1rx 0x4
sam_grove 0:6219434a0cb5 108 #define PDO2tx 0x5
sam_grove 0:6219434a0cb5 109 #define PDO2rx 0x6
sam_grove 0:6219434a0cb5 110 #define PDO3tx 0x7
sam_grove 0:6219434a0cb5 111 #define PDO3rx 0x8
sam_grove 0:6219434a0cb5 112 #define PDO4tx 0x9
sam_grove 0:6219434a0cb5 113 #define PDO4rx 0xA
sam_grove 0:6219434a0cb5 114 #define SDOtx 0xB
sam_grove 0:6219434a0cb5 115 #define SDOrx 0xC
sam_grove 0:6219434a0cb5 116 #define NODE_GUARD 0xE
sam_grove 0:6219434a0cb5 117 #define LSS 0xF
sam_grove 0:6219434a0cb5 118
sam_grove 0:6219434a0cb5 119 /* NMT Command Specifier, sent by master to change a slave state */
sam_grove 0:6219434a0cb5 120 /* ------------------------------------------------------------- */
sam_grove 0:6219434a0cb5 121 /* Should not be modified */
sam_grove 0:6219434a0cb5 122 #define NMT_Start_Node 0x01
sam_grove 0:6219434a0cb5 123 #define NMT_Stop_Node 0x02
sam_grove 0:6219434a0cb5 124 #define NMT_Enter_PreOperational 0x80
sam_grove 0:6219434a0cb5 125 #define NMT_Reset_Node 0x81
sam_grove 0:6219434a0cb5 126 #define NMT_Reset_Comunication 0x82
sam_grove 0:6219434a0cb5 127
sam_grove 0:6219434a0cb5 128 /** Status of the LSS transmission
sam_grove 0:6219434a0cb5 129 */
sam_grove 0:6219434a0cb5 130 #define LSS_RESET 0x0 /* Transmission not started. Init state. */
sam_grove 0:6219434a0cb5 131 #define LSS_FINISHED 0x1 /* data are available */
sam_grove 0:6219434a0cb5 132 #define LSS_ABORTED_INTERNAL 0x2 /* Aborted but not because of an abort message. */
sam_grove 0:6219434a0cb5 133 #define LSS_TRANS_IN_PROGRESS 0x3
sam_grove 0:6219434a0cb5 134
sam_grove 0:6219434a0cb5 135 /* constantes used in the different state machines */
sam_grove 0:6219434a0cb5 136 /* ----------------------------------------------- */
sam_grove 0:6219434a0cb5 137 /* Must not be modified */
sam_grove 0:6219434a0cb5 138 #define state1 0x01
sam_grove 0:6219434a0cb5 139 #define state2 0x02
sam_grove 0:6219434a0cb5 140 #define state3 0x03
sam_grove 0:6219434a0cb5 141 #define state4 0x04
sam_grove 0:6219434a0cb5 142 #define state5 0x05
sam_grove 0:6219434a0cb5 143 #define state6 0x06
sam_grove 0:6219434a0cb5 144 #define state7 0x07
sam_grove 0:6219434a0cb5 145 #define state8 0x08
sam_grove 0:6219434a0cb5 146 #define state9 0x09
sam_grove 0:6219434a0cb5 147 #define state10 0x0A
sam_grove 0:6219434a0cb5 148 #define state11 0x0B
sam_grove 0:6219434a0cb5 149
sam_grove 0:6219434a0cb5 150 #endif /* __def_h__ */
sam_grove 0:6219434a0cb5 151